Ratcliffe, N., Adamatzky, A., Costello, B. D. L., Melhuish, C., & Ratcliffe, N. M. (2004). Experimental implementation of mobile robot taxis with onboard Belousov-Zhabotinsky chemical medium. Materials Science and Engineering: C, 24(4), 541-548. https://doi.org/10.1016/j.msec.2004.02.002